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When I run g++ -I /opt/opencv_contrib-3.4/modules/aruco/include main.cpp

you have to properly build and install opencv + opencv_contrib libraries first.

don't include headers from the src tree, but from where you installed it to (by default: /usr/local/include)

then you have to link required opencv libraries, e.g.:

g++ -lopencv_aruco -lopencv_core ...(more libs)... -l main.cpp

When I run g++ -I /opt/opencv_contrib-3.4/modules/aruco/include main.cpp

you have to properly build and install opencv + opencv_contrib libraries first.

don't include headers from the src tree, but from where you installed it to (by default: /usr/local/include)

then you have to link required opencv libraries, e.g.:

g++ -lopencv_aruco -lopencv_core ...(more libs)... -l  main.cpp